Sistema de localização com ultra-sons

Abstract

In this paper, we present a robot location systemusing ultrasonic beacons. The robot-beacon distance is computed from the measured time-of-flight of the sound waves. In order to distinguish the different beacons we used BinaryPhase Shift Keying (BPSK) modulation with Gold sequencesas the modulated signal. The robot uses Differencial BPSK(DBPSK) demodulation and a match-filter to detect the emittedpulses. The position of the robot is computed by using thetriangulation of the distances from the robot to each beacon. Practical test results showed that this system can obtain therobot’s position with a maximum error of 30 cm.